ANALYSIS OF KINEMATICS OF MOVEMENT OF FIELD UNITS WITH ALL CONTROLLED WHEELS
Abstract
The movement of units along curves is the most difficult element of movement in the field. The main part of the time of work of field units is devoted to curvilinear movement, when the trajectory changes at the request of the driver or due to external disturbances, or due to changes in some parameters during movement. The trajectory of a wheeled machine is the trajectory of its kinematic centre. There is no fundamental difference between a tractor and a car, as the functional qualities during curvilinear movement are the same. Currently, theoretical and experimental methods for the study of curvilinear motion are not sufficiently developed for wheeled and tractor trains during work. The aim of the research is to analyse the kinematics of curvilinear motion of power vehicles with all steered wheels in the field units on reversible lanes. Methods of theoretical analysis of mathematical models of kinematics of unsteady motion of field aggregates, systematization of parameters, sequential analysis of characteristics were used in the analysis of literature sources. Many articles by world scientists have attempted to obtain equations of the trajectory of curvilinear motion of field aggregates to obtain mathematical models of curvilinear motion, but they are too complex to use in practice. A wheeled machine with steered front and rear axles, at the same angles of rotation of the respective wheels, can provide twice the radius than a wheeled machine with one steered axle. This leads to a reduction in the required width of the turning lane, increasing the length of the tracks, increasing the productivity of the unit, significantly reducing the number of damaged plants on sown turning lanes, reducing the mechanical and technological properties of the soil. The conclusions of the research indicate the need to create mathematical equations that describe the curvilinear motion of field units with all steered wheels, which are simpler and suitable for use in practice and for modelling any kind of reversals in agricultural work.
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